CN1187454A - Method for generating velocity profiles for elevator car doors - Google Patents
Method for generating velocity profiles for elevator car doors Download PDFInfo
- Publication number
- CN1187454A CN1187454A CN97109397A CN97109397A CN1187454A CN 1187454 A CN1187454 A CN 1187454A CN 97109397 A CN97109397 A CN 97109397A CN 97109397 A CN97109397 A CN 97109397A CN 1187454 A CN1187454 A CN 1187454A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000004044 response Effects 0.000 claims abstract description 12
- 238000001914 filtration Methods 0.000 claims description 14
- 238000010586 diagram Methods 0.000 claims description 7
- 230000010354 integration Effects 0.000 claims description 3
- 230000007704 transition Effects 0.000 abstract description 6
- 230000001133 acceleration Effects 0.000 abstract 1
- 230000008569 process Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000001052 transient effect Effects 0.000 description 3
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Elevator Door Apparatuses (AREA)
- Elevator Control (AREA)
Abstract
A method for generating velocity profiles for elevator car doors includes a step of generating a straight-line velocity versus time profile. The profile is then passed through a low pass finite impulse response filter to smooth the transition between different velocity and acceleration values and to limit certain undesired frequencies. The filtered profile can be integrated into a position versus time profile and stored in the RAM of a control system to be used for subsequent operations.
Description
The application relate to sequence number that same applicant submits in same applying date for _ _ _ _ _ _ (OT-2678) pending application application.
The present invention relates to the lift car door system, particularly relate to the speed that produces in this system.
In elevator device, elevator cab door by direct motor drive to opening and closing the position.Elevator cab door will be connected on the hoistway door usually, so that hoistway door is driven into the opening and closing position.When beginning to operate, in the process of operation, and during end operation, elevator cab door need be kept certain speed usually.For example, when opening the door, rate of onset is lower, and elevator cab door is connected on the hoistway door if having time.After two groups of doors are finished connection, door is accelerated to higher speed.In the time will finishing opening door operation, make a deceleration avoid the fixing baffle plate of its collision then.
There are many methods can be used in each operating process, changing the speed of elevator cab door.The most frequently used method that changes elevator cab door speed is to use resistance.The resistance setting of connecting with a voltage source and DC motor, and can regulate the size of resistance value.Resistance value is big more, and the DC motor moves slowly more, and the speed output of generation is also just more little.It hour is accurately that this pass ties up to resistance value.Yet, also can bring some restrictions thus.At first, resistance can not compensate the friction force on the door or the variation of other loads.Secondly, when resistance heating, its resistance value can change, and causes the variation of elevator cab door speed thus.This variation of speed is totally unfavorable, because it can not provide stable level and smooth velocity profile.The 3rd, resistance is regulated by the trial and error method, and this method expends time in and lacks necessary accuracy usually.
The another kind of scheme that is used to change elevator cab door speed in modern closed loop control system comprises the velocity profile that is produced by software.Decide the speed of door on specified time or distance by software.When operating elevator cab door, produce velocity profile at every turn.The problem of this scheme is that door life period when response instruction lags behind, or needs powerful treater to produce real-time velocity profile.
In addition, from a velocity amplitude to needing to have level and smooth transition another velocity amplitude.At present, the transition of speed from a grade to another grade is to form by section of creeping constant the velocity profile (jerk is divided by the rate of change of time) and constant accelerating sections.Be used for smoothly must coincideing mutually with the speed and the accekeration of the constant section of creeping that is connected constant accelerating sections and constant speed section to the constant section of creeping of the transient process point of transition of constant accelerating sections from the constant speed section of door.For the constant section of creeping on many point of transitions is coincide with constant accelerating sections and constant speed section, need take the plenty of time of treater.
In addition, if some high fdrequency component of velocity profile has surpassed the bandwidth of gate control system, the gate control system just can't make door follow these high fdrequency components.This situation can cause the misoperation of elevator cab door, causes car door overstep of end point position and strikes baffle plate, or evoke the resonance frequency of door.In order to represent frequency content, can come the decomposition rate distribution graph with the Fourier transform method.The low frequency and the high fdrequency component that in velocity profile, comprise speed.Although being used to provide the existing method of the constant section of creeping can still can't know how many radio-frequency components of decaying, and can't know the frequency content of velocity profile by reduce the underspeed frequency content of distribution graph of abrupt turn point as far as possible actually.Except meeting causes misoperation, produce velocity profile with the constant method of creeping and to make frequency content very low, thereby make the operating time of door surpass the optimal operations time.
The objective of the invention is by improving the operating characteristic of elevator cab door along with the variation of door speed guarantees level and smooth open and close operation in these operating periods.
Another object of the present invention is to shorten treater needed time when producing the elevator car door operating velocity profile.
According to the present invention, being used for the speed and the time history of moving elevator car door need be integrated into position and time relation diagram of curves by a filter, then its part as the elevator cab door initialize routine is stored, therefore, when operating elevator cab door in order, door just can be followed the tracks of the position and the time history of storage.Original speed and time history are the distribution graphs of straight line, in a most preferred embodiment of the present invention, make it pass through a low pass finite impulse response (FIR) (FIR) filter, the frequency content of distribution graph is limited within the bandwidth of control system, and guarantees that elevator cab door has level and smooth transient process between the friction speed grade of various operating periods.Can guarantee that to the restriction of distribution graph frequency content this distribution graph meets the bandwidth of control system, thereby can make the actual motion of door follow the tracks of wave propagation velocity distribution graph after filtration.Owing to stored position and time relation diagram of curves, do not need to produce new distribution graph for each operation of door, so just saved the time of real-time time and treater.
One of advantage of the present invention is the bandwidth that the operating time of door can be fit to control system.
Another advantage of the present invention is to avoid elevator cab door final position or the like the misoperation phenomenon of door to occur crossing.
An advantage more of the present invention is to cause the resonance effect of door system.
According to can further being familiar with above-mentioned and other advantages of the present invention to the detailed description of explanatory embodiment below in conjunction with accompanying drawing.
Fig. 1 is used for speed and the time history that elevator cab door closes the straight line of door operation;
Fig. 2 is the speed of Fig. 1 and time history and wave propagation velocity and time history after filtration; And
Fig. 3 is according to the wave propagation velocity after filtration of Fig. 2 of the present invention and the position and the time history of time history and integration.
Referring to Fig. 1, when connecting the power supply of lift car door system, produce the speed and the time history of a straight line by the software of elevator car door operating system.The speed of this straight line and time history have been represented at a time required velocity amplitude in the operating process of door.For example, when the beginning opening door operation, velocity amplitude is lower, so that hoistway door is connected on the door of lift car.After connection is finished, door is accelerated to for example velocity peak values shown in Fig. 1 of higher velocity amplitude.Higher velocity amplitude remains to door always and is decelerated to and stops speed.When the approaching end of operation of door, often need lower velocity amplitude that elevator cab door is slowed down, or the permission hoistway door break away from elevator cab door under the situation of pass door operation.
The distribution graph of straight line normally produces at the various functions of door, for example opens the door, and closes the door, turn to, or at the friction speed that needs on each floor.The speed of decision straight line and the parameter of time history shape can change.The change of this parameter need be recomputated a new space rate and time history.
Referring to Fig. 2, the speed of straight line and time history need be by finite impulse response (FIR) (FIR) filters of a low pass.Low-pass filter makes high frequency attenuation, and guarantees that the frequency content of distribution graph meets the bandwidth of position feedback control system.In most preferred embodiment of the present invention, control system has the position control bandwidth of 1 to 2 hertz (Hz).This finite impulse response filter calculates the aviation value of mobile weighting round the point of transition of space rate and time history, thereby guarantees to have level and smooth transient process between the different velocity amplitudes.
Although in most preferred embodiment, used finite impulse response (FIR) (FIR) filter of low pass, also can use infinite impulse response (IIR) filter of low pass.
Referring to Fig. 3, in most preferred embodiment of the present invention, wave propagation velocity and time history are after filtration carried out integration, thereby obtain position and time relation diagram of curves.Like this, just can calculate another point for each point on wave propagation velocity and the time history after filtration, and depict a point on position and the time history as.Why will produce speed and time relation diagram of curves in the present embodiment and be because be used for the closed loop control system of actuating doors in this occasion is a kind of position control system.Yet, in other occasions of operating speed control system, also can be with the input of speed and time history as speed control system.
Then, among the RAM that position that elevator cab door is operated at every turn and time history are stored in control system.
In operation, when the power supply of elevator car door operating system is switched on, just produce speed and time history as the straight line of an initialize routine part.Make the speed and the time history of straight line pass through low-pass FIR filter then.Wave propagation velocity and time history are integrated into position and time history after filtration according to the needed input of control system then.Store this distribution graph then and be provided with the back use.When door controller received the instruction of moving elevator car door, controller was just revised the position and the time history of storage according to suitable operation.
Main contribution of the present invention is that door controller does not need to produce a distribution graph for each instruction, and does not need to take the quality time of treater.It is the bandwidth that meets closed loop control system through the frequency content of the distribution graph of filtering that of the present invention another mainly contributed.So just can prevent that the misoperation of final position one class from appearring crossing in elevator cab door.In addition, because radio-frequency component has been attenuated, can not cause the resonance condition of door system.
Although the present invention represents and illustrates that those skilled in the art obviously can also make various modifications to the present invention under the condition that does not break away from spirit and scope of the invention according to the mode of its specific embodiment.For example, the present invention makes the velocity profile in the each operation of elevator cab door pass through filter under the situation of not storing distribution graph.Similarly the present invention also can store do not have filtering distribution graph for using in the follow-up operation.
Claims (11)
1. produce the method for elevator cab door velocity profile, said method may further comprise the steps:
Produce the speed and the time history of a straight line for the required movement of door;
Make the speed and the time history of above-mentioned straight line pass through a low-pass filter, obtain wave propagation velocity and time history after filtration, so that limit the frequency content in above-mentioned speed and the time history;
Above-mentioned speed and time history integration to through filtering obtain a position and time relation diagram of curves; And
Store above-mentioned position and time relation diagram of curves.
2. according to the method for claim 1, it is characterized in that above-mentioned low-pass filter is a low pass finite impulse response filter.
3. according to the method for claim 1, it is characterized in that above-mentioned low-pass filter is a low-pass infinite impulse response filter.
4. according to the method for claim 1, it is characterized in that above-mentioned position and time history are stored among the RAM.
5. produce the method for elevator cab door velocity profile, said method may further comprise the steps:
Produce the speed and the time history of a straight line for the required movement of door; And
Make the speed and the time history of above-mentioned straight line pass through a low-pass filter, obtain wave propagation velocity and time history after filtration, so that limit the frequency content in above-mentioned speed and the time history.
6. according to the method for claim 5, it is characterized in that above-mentioned low-pass filter is a low pass finite impulse response filter.
7. according to the method for claim 5, it is characterized in that further comprising the step of above-mentioned wave propagation velocity after filtration of storage and time history.
8. produce the method for elevator cab door velocity profile, said method may further comprise the steps
For the required movement of above-mentioned elevator cab door produces a plurality of speed and time history, with its part as initialize routine; And
Store above-mentioned a plurality of speed and time history, thereby can revise above-mentioned a plurality of speed and time history according to the proper handling of above-mentioned elevator cab door.
9. be used for a kind of elevator car door operating system of the elevator cab door of elevator device, said system comprises:
A low-pass filter, be used for speed and time history are carried out filtering, obtain wave propagation velocity and time history after filtration,, make frequency content in the above-mentioned distribution graph meet the bandwidth of control system so that limit the frequency content in above-mentioned speed and the time history.
10. according to the elevator car door operating system of claim 9, it is characterized in that above-mentioned low-pass filter is a low pass finite impulse response filter.
11., it is characterized in that above-mentioned low-pass filter is a low-pass infinite impulse response filter according to the elevator car door operating system of claim 10.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US08/754,456 US5859395A (en) | 1996-11-21 | 1996-11-21 | Method for generating velocity profiles for elevator car doors |
| US754456 | 1996-11-21 | ||
| US754,456 | 1996-11-21 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1187454A true CN1187454A (en) | 1998-07-15 |
| CN1095802C CN1095802C (en) | 2002-12-11 |
Family
ID=25034870
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN97109397A Expired - Fee Related CN1095802C (en) | 1996-11-21 | 1997-11-20 | Method for generating velocity profiles for elevator car doors |
Country Status (8)
| Country | Link |
|---|---|
| US (1) | US5859395A (en) |
| EP (1) | EP0844544B1 (en) |
| JP (1) | JPH10157956A (en) |
| CN (1) | CN1095802C (en) |
| BR (1) | BR9705754A (en) |
| DE (1) | DE69738834D1 (en) |
| HK (1) | HK1013198A1 (en) |
| ID (1) | ID18901A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103264948A (en) * | 2013-04-24 | 2013-08-28 | 深圳市海浦蒙特科技有限公司 | Elevator door motor control system and elevator door motor control method |
| CN112723069A (en) * | 2020-12-16 | 2021-04-30 | 长沙慧联智能科技有限公司 | Elevator door running state monitoring method and system based on TOF visual detection |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6084375A (en) * | 1995-09-01 | 2000-07-04 | The Vision Limited Partnership | Method and apparatus for control of drive systems for cycle based processes |
| AU756227B2 (en) * | 1998-06-18 | 2003-01-09 | Aristocrat Technologies Australia Pty Limited | Method of linking devices to gaming machines |
| ES2156076B1 (en) * | 1999-05-28 | 2002-08-01 | Wavecrest Servicios Sociedade | ELEVATOR CABIN DOOR OPERATOR. |
| US6445152B1 (en) * | 1999-11-24 | 2002-09-03 | Westinghouse Air Brake Co. | Door control system |
| US7040457B1 (en) * | 2001-11-08 | 2006-05-09 | Bene Wayne J | Motor speed controller system for freight elevator doors |
| EP1528446A1 (en) * | 2003-10-29 | 2005-05-04 | Siemens Aktiengesellschaft | Method and controller for positioning an actuator and use of the controller |
| US8333035B2 (en) * | 2006-09-12 | 2012-12-18 | Otis Elevator Company | Door assembly including a sensor for controlling automated door movement |
| WO2010016826A1 (en) * | 2008-08-04 | 2010-02-11 | Otis Elevator Company | Elevator motion profile control |
| EP2298683A1 (en) * | 2009-09-18 | 2011-03-23 | Inventio AG | Door operator |
| US8761947B2 (en) * | 2010-06-30 | 2014-06-24 | Mitsubishi Electric Research Laboratories, Inc. | System and method for reducing lateral vibration in elevator systems |
| KR101368847B1 (en) * | 2012-01-31 | 2014-03-03 | 주식회사 아진엑스텍 | Generation method of motion profile |
| FI124545B (en) * | 2013-09-26 | 2014-10-15 | Kone Corp | Procedure for monitoring the movement of a lift component and safety arrangements for a lift |
| GB2566497B (en) | 2017-09-15 | 2020-07-29 | Illinois Tool Works | Braking system for electromagnetic motors |
| JP7002072B2 (en) * | 2017-10-30 | 2022-01-20 | ブラザー工業株式会社 | Numerical control device and control method |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0419705A1 (en) * | 1989-09-27 | 1991-04-03 | Siemens Aktiengesellschaft | Method for reducing jerkiness of numerical drive systems |
| DK0429835T3 (en) * | 1989-11-27 | 1994-10-17 | Inventio Ag | Method and device for reducing the risk of crushing by automatic doors |
| CA2108797C (en) * | 1991-04-25 | 2003-03-11 | Robert Charles Kidd | Method and apparatus for adaptively thresholding grayscale image data |
| US5159281A (en) * | 1991-11-20 | 1992-10-27 | Nsi Partners | Digital demodulator using numerical processor to evaluate period measurements |
| AU5550694A (en) * | 1992-11-06 | 1994-06-08 | Pericle Communications Company | Adaptive data rate modem |
| US5339016A (en) * | 1993-01-14 | 1994-08-16 | Mts Systems Corporation | Crossover and spectral preemphasis networks for adaptive inverse control |
| US5384439A (en) * | 1993-02-16 | 1995-01-24 | Otis Elevator Company | Adaptive digital velocity control loop for a high performance elevator door system with low cost |
| JPH06250723A (en) * | 1993-02-25 | 1994-09-09 | Komatsu Ltd | Vibration reducing device for robot |
| US5495918A (en) * | 1994-04-06 | 1996-03-05 | Otis Elevator Company | Smooth and quiet linear induction motor elevator door operation |
-
1996
- 1996-11-21 US US08/754,456 patent/US5859395A/en not_active Expired - Lifetime
-
1997
- 1997-11-17 ID IDP973686A patent/ID18901A/en unknown
- 1997-11-19 JP JP9317907A patent/JPH10157956A/en active Pending
- 1997-11-19 BR BR9705754A patent/BR9705754A/en not_active Application Discontinuation
- 1997-11-20 CN CN97109397A patent/CN1095802C/en not_active Expired - Fee Related
- 1997-11-21 DE DE69738834T patent/DE69738834D1/en not_active Expired - Lifetime
- 1997-11-21 EP EP97309427A patent/EP0844544B1/en not_active Expired - Lifetime
-
1998
- 1998-12-22 HK HK98114564A patent/HK1013198A1/en not_active IP Right Cessation
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103264948A (en) * | 2013-04-24 | 2013-08-28 | 深圳市海浦蒙特科技有限公司 | Elevator door motor control system and elevator door motor control method |
| CN112723069A (en) * | 2020-12-16 | 2021-04-30 | 长沙慧联智能科技有限公司 | Elevator door running state monitoring method and system based on TOF visual detection |
Also Published As
| Publication number | Publication date |
|---|---|
| HK1013198A1 (en) | 1999-08-20 |
| DE69738834D1 (en) | 2008-08-28 |
| JPH10157956A (en) | 1998-06-16 |
| ID18901A (en) | 1998-05-20 |
| CN1095802C (en) | 2002-12-11 |
| US5859395A (en) | 1999-01-12 |
| BR9705754A (en) | 1999-03-09 |
| EP0844544A2 (en) | 1998-05-27 |
| EP0844544A3 (en) | 1999-05-19 |
| EP0844544B1 (en) | 2008-07-16 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: FAST ELEVATOR CO., LTD. Free format text: FORMER OWNER: OTIS ELEVATOR CO. Effective date: 20090724 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20090724 Address after: No. 38, Hung Road, Tung Road, Suzhou Industrial Park, Jiangsu Patentee after: Express Elevator Co., Ltd. Address before: American Connecticut Patentee before: Ltis Elevator Co. |
|
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 19980715 Assignee: Ltis Elevator Co. Assignor: Express Elevator Co., Ltd. Contract record no.: 2010990000097 Denomination of invention: Method for generating velocity profiles for elevator car doors Granted publication date: 20021211 License type: Common License Record date: 20100222 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20021211 Termination date: 20141120 |
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| EXPY | Termination of patent right or utility model |